From 2f74c03317e34b95b671b308c78683dba12542b9 Mon Sep 17 00:00:00 2001
From: Joshua Davidson <joshuadavidson2000@gmail.com>
Date: Wed, 28 Jun 2017 14:50:39 -0400
Subject: [PATCH] A3XX: Major Update: Update AP, FBW, Autotrim, FCU, add
 Preselect

---
 A320-main.xml                         |  28 +--
 Models/FlightDeck/a320.flightdeck.xml | 220 +++++++++++----------
 Nasal/FMGC-b.nas                      |  10 +-
 Nasal/FMGC.nas                        |  16 +-
 Nasal/libraries.nas                   |  37 ++++
 Systems/fmgc-pitch.xml                | 202 +------------------
 Systems/fmgc-roll-yaw.xml             |  71 +------
 Systems/it-fbw.xml                    | 273 ++++++--------------------
 8 files changed, 255 insertions(+), 602 deletions(-)

diff --git a/A320-main.xml b/A320-main.xml
index c903a9a0..efafe0ae 100644
--- a/A320-main.xml
+++ b/A320-main.xml
@@ -333,19 +333,19 @@
 		<config>
 			<altitude-dial-mode>0</altitude-dial-mode>
 			<roll>
-				<umin>-0.45</umin>
-				<umax>0.45</umax>
-				<kp>0.045</kp>
-				<kp-vloc>0.07</kp-vloc>
-				<ti>10.0</ti>
-				<td>0.00001</td>
+				<umin>-0.4</umin>
+				<umax>0.4</umax>
+				<kp>0.08</kp>
+				<kp-vloc>0.09</kp-vloc>
+				<ti>5.0</ti>
+				<td>0.001</td>
 			</roll>
 			<pitch>
-				<umin>-0.20</umin>
-				<umax>0.20</umax>
-				<kp>-0.06</kp>
-				<ti>10.0</ti>
-				<td>0.00001</td>
+				<umin>-0.3</umin>
+				<umax>0.3</umax>
+				<kp>-0.1</kp>
+				<ti>5.0</ti>
+				<td>0.001</td>
 			</pitch>
 			<cmd>
 				<roll-kp>-0.9</roll-kp>
@@ -363,8 +363,12 @@
 			<ap2>0</ap2>
 		</output>
 		<custom>
-			<hdg-input>0</hdg-input>
+			<show-hdg>0</show-hdg>
 			<trk-fpa>0</trk-fpa>
+			<hdg-knb>0</hdg-knb>
+			<spd-knb>0</spd-knb>
+			<alt-knb>0</alt-knb>
+			<vs-knb>0</vs-knb>
 		</custom>
 	</it-autoflight>
 
diff --git a/Models/FlightDeck/a320.flightdeck.xml b/Models/FlightDeck/a320.flightdeck.xml
index 6c11623a..d21c9aef 100644
--- a/Models/FlightDeck/a320.flightdeck.xml
+++ b/Models/FlightDeck/a320.flightdeck.xml
@@ -512,10 +512,16 @@
         <type>select</type>
         <object-name>lat.dash</object-name>
         <condition>
-			<not-equals>
-				<property>/it-autoflight/output/lat</property>
-				<value>0</value>
-			</not-equals>
+			<and>
+				<not-equals>
+					<property>/it-autoflight/output/lat</property>
+					<value>0</value>
+				</not-equals>
+				<equals>
+					<property>/it-autoflight/custom/show-hdg</property>
+					<value>0</value>
+				</equals>
+			</and>
         </condition>
     </animation>
 	
@@ -533,27 +539,6 @@
 	<animation>
 		<type>select</type>
 		<object-name>vs.ind</object-name>
-        <condition>
-			<equals>
-				<property>/it-autoflight/output/vert</property>
-				<value>1</value>
-			</equals>
-        </condition>
-	</animation>
-	
-	<animation>
-		<type>select</type>
-		<object-name>fpa.ind</object-name>
-        <condition>
-			<equals>
-				<property>/it-autoflight/output/vert</property>
-				<value>5</value>
-			</equals>
-        </condition>
-	</animation>
-	
-	<animation>
-		<type>select</type>
 		<object-name>vs.ind.001</object-name>
         <condition>
 			<equals>
@@ -565,6 +550,7 @@
 	
 	<animation>
 		<type>select</type>
+		<object-name>fpa.ind</object-name>
 		<object-name>fpa.ind.001</object-name>
         <condition>
 			<equals>
@@ -659,6 +645,14 @@
 				<min>0.50</min>
 				<max>0.95</max>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/spd-knb</property>
+				<step>1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
 		<action>
 			<button>4</button>
@@ -701,6 +695,14 @@
 				<min>0.50</min>
 				<max>0.95</max>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/spd-knb</property>
+				<step>-1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
 	</animation>
     
@@ -711,9 +713,8 @@
 			<button>0</button>
 			<repeatable>false</repeatable>
 			<binding>
-				<command>property-assign</command>
-				<property>/it-autoflight/input/lat</property>
-				<value>1</value>
+				<command>nasal</command>
+				<script>libraries.mcpHDGKnbPush();</script>
 			</binding>
 			<binding>
 				<command>nasal</command>
@@ -724,9 +725,8 @@
 			<button>1</button>
 			<repeatable>false</repeatable>
 			<binding>
-				<command>property-assign</command>
-				<property>/it-autoflight/input/lat</property>
-				<value>3</value>
+				<command>nasal</command>
+				<script>libraries.mcpHDGKnbPull();</script>
 			</binding>
 			<binding>
 				<command>nasal</command>
@@ -738,9 +738,19 @@
 			<repeatable>true</repeatable>
 			<binding>
 				<condition>
-					<equals>
+					<not-equals>
 						<property>/it-autoflight/output/lat</property>
 						<value>0</value>
+					</not-equals>
+				</condition>
+				<command>nasal</command>
+				<script>libraries.hdgInput();</script>
+			</binding>
+			<binding>
+				<condition>
+					<equals>
+						<property>/it-autoflight/custom/show-hdg</property>
+						<value>1</value>
 					</equals>
 				</condition>
 				<command>property-adjust</command>
@@ -750,15 +760,33 @@
 				<max>361</max>
 				<wrap>true</wrap>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/hdg-knb</property>
+				<step>1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
 		<action>
 			<button>4</button>
 			<repeatable>true</repeatable>
 			<binding>
 				<condition>
-					<equals>
+					<not-equals>
 						<property>/it-autoflight/output/lat</property>
 						<value>0</value>
+					</not-equals>
+				</condition>
+				<command>nasal</command>
+				<script>libraries.hdgInput();</script>
+			</binding>
+			<binding>
+				<condition>
+					<equals>
+						<property>/it-autoflight/custom/show-hdg</property>
+						<value>1</value>
 					</equals>
 				</condition>
 				<command>property-adjust</command>
@@ -768,6 +796,14 @@
 				<max>361</max>
 				<wrap>true</wrap>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/hdg-knb</property>
+				<step>-1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
     </animation>
     
@@ -829,6 +865,14 @@
 				<min>0</min>
 				<max>50000</max>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/alt-knb</property>
+				<step>1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
 		<action>
 			<button>4</button>
@@ -859,6 +903,14 @@
 				<min>0</min>
 				<max>50000</max>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/alt-knb</property>
+				<step>-1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
     </animation>
     
@@ -972,6 +1024,14 @@
 				<step>0.1</step>
 				<max>20.9</max>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/vs-knb</property>
+				<step>1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
 		<action>
 			<button>4</button>
@@ -1010,9 +1070,16 @@
 				<step>-0.1</step>
 				<min>-20.9</min>
 			</binding>
+			<binding>
+				<command>property-adjust</command>
+				<property>/it-autoflight/custom/vs-knb</property>
+				<step>-1</step>
+				<min>0</min>
+				<max>10000</max>
+				<wrap>true</wrap>
+			</binding>
 		</action>
     </animation>
-
 	
 	<!-- Button Pick Animations -->
 	
@@ -1282,50 +1349,6 @@
 	<animation>
 		<type>select</type>
 		<object-name>hdg.ind</object-name>
-		<condition>
-			<and>
-				<equals>
-					<property>/it-autoflight/output/lat</property>
-					<value>0</value>
-				</equals>
-				<equals>
-					<property>/it-autoflight/custom/trk-fpa</property>
-					<value>0</value>
-				</equals>
-			</and>
-		</condition>
-	</animation>
-	
-	<animation>
-		<type>select</type>
-		<object-name>trk.ind</object-name>
-		<condition>
-			<and>
-				<equals>
-					<property>/it-autoflight/output/lat</property>
-					<value>0</value>
-				</equals>
-				<equals>
-					<property>/it-autoflight/custom/trk-fpa</property>
-					<value>1</value>
-				</equals>
-			</and>
-		</condition>
-	</animation>
-	
-	<animation>
-		<type>select</type>
-		<object-name>hdg-text</object-name>
-		<condition>
-			<equals>
-				<property>/it-autoflight/output/lat</property>
-				<value>0</value>
-			</equals>
-		</condition>
-	</animation>
-	
-	<animation>
-		<type>select</type>
 		<object-name>hdg2.ind</object-name>
 		<condition>
 			<equals>
@@ -1337,6 +1360,7 @@
 	
 	<animation>
 		<type>select</type>
+		<object-name>trk.ind</object-name>
 		<object-name>trk2.ind</object-name>
 		<condition>
 			<equals>
@@ -1346,6 +1370,17 @@
 		</condition>
 	</animation>
 	
+	<animation>
+		<type>select</type>
+		<object-name>hdg-text</object-name>
+		<condition>
+			<equals>
+				<property>/it-autoflight/custom/show-hdg</property>
+				<value>1</value>
+			</equals>
+		</condition>
+	</animation>
+	
     <animation>
         <type>select</type>
         <object-name>vs.dash</object-name>
@@ -1701,7 +1736,7 @@
 	<animation>
 		<type>rotate</type>
 		<object-name>hdg-sel</object-name>
-		<property>/it-autoflight/input/hdg-sel</property>
+		<property>/it-autoflight/custom/hdg-knb</property>
 		<factor>11.25</factor>
 		<axis>
 			<x1-m>-0.4608</x1-m>
@@ -1716,7 +1751,7 @@
 	<animation>
 		<type>rotate</type>
 		<object-name>spd-sel</object-name>
-		<property>/it-autoflight/input/spd-kts</property>
+		<property>/it-autoflight/custom/spd-knb</property>
 		<factor>11.25</factor>
 		<axis>
 			<x1-m>-0.4608</x1-m>
@@ -1728,25 +1763,10 @@
 		</axis>
 	</animation>
 	
-	<animation>
-		<type>rotate</type>
-		<object-name>spd-sel</object-name>
-		<property>/it-autoflight/input/spd-mach</property>
-		<factor>0.01</factor>
-		<axis>
-			<x1-m>-0.4608</x1-m>
-			<y1-m>-0.0874</y1-m>
-			<z1-m>0.1526</z1-m>
-			<x2-m>-0.4807</x2-m>
-			<y2-m>-0.0874</y2-m>
-			<z2-m>0.1478</z2-m>
-		</axis>
-	</animation>
-	
 	<animation>
 		<type>rotate</type>
 		<object-name>alt-sel</object-name>
-		<property>/it-autoflight/input/alt</property>
+		<property>/it-autoflight/custom/alt-knb</property>
 		<factor>11.25</factor>
 		<axis>
 			<x1-m>-0.4738</x1-m>
@@ -1761,14 +1781,8 @@
 	<animation>
 		<type>rotate</type>
 		<object-name>vs-sel</object-name>
-		<property>/it-autoflight/input/vs</property>
+		<property>/it-autoflight/custom/vs-knb</property>
 		<factor>11.25</factor>
-		<condition>
-			<equals>
-				<property>/it-autoflight/output/vert</property>
-				<value>1</value>
-			</equals>
-		</condition>
 		<axis>
 			<x1-m>-0.4608</x1-m>
 			<y1-m>0.0924</y1-m>
diff --git a/Nasal/FMGC-b.nas b/Nasal/FMGC-b.nas
index e8fdfa58..2b1cc84f 100644
--- a/Nasal/FMGC-b.nas
+++ b/Nasal/FMGC-b.nas
@@ -55,6 +55,7 @@ var APinit = func {
 	setprop("/it-autoflight/mode/vert", "T/O CLB");
 	setprop("/it-autoflight/input/spd-kts", 100);
 	setprop("/it-autoflight/input/spd-mach", 0.50);
+	setprop("/it-autoflight/custom/show-hdg", 0);
 	update_armst.start();
 	thrustmode();
 }
@@ -185,6 +186,7 @@ var lateral = func {
 			setprop("/it-autoflight/output/lat", 1);
 			setprop("/it-autoflight/mode/lat", "LNAV");
 			setprop("/it-autoflight/mode/arm", " ");
+			setprop("/it-autoflight/custom/show-hdg", 0);
 		} else {
 			gui.popupTip("Please make sure you have a route set, and that it is Activated!");
 		}
@@ -212,9 +214,11 @@ var lateral = func {
 		lnavwptt.stop();
 		setprop("/it-autoflight/output/lat", 4);
 		setprop("/it-autoflight/mode/lat", "ALGN");
+		setprop("/it-autoflight/custom/show-hdg", 0);
 	} else if (latset == 5) {
 		lnavwptt.stop();
 		setprop("/it-autoflight/output/lat", 5);
+		setprop("/it-autoflight/custom/show-hdg", 0);
 	}
 }
 
@@ -222,11 +226,12 @@ var lat_arm = func {
 	var latset = getprop("/it-autoflight/input/lat");
 	if (latset == 0) {
 		setprop("/it-autoflight/input/lat-arm", 0);
-		setprop("/it-autoflight/mode/arm", "HDG");
+		setprop("/it-autoflight/custom/show-hdg", 1);
 	} else if (latset == 1) {
 		if (getprop("/autopilot/route-manager/route/num") > 0 and getprop("/autopilot/route-manager/active") == 1) {
 			setprop("/it-autoflight/input/lat-arm", 1);
 			setprop("/it-autoflight/mode/arm", "LNV");
+			setprop("/it-autoflight/custom/show-hdg", 0);
 		} else {
 			gui.popupTip("Please make sure you have a route set, and that it is Activated!");
 		}
@@ -234,7 +239,7 @@ var lat_arm = func {
 		var hdgnow = int(getprop("/orientation/heading-magnetic-deg")+0.5);
 		setprop("/it-autoflight/input/hdg", hdgnow);
 		setprop("/it-autoflight/input/lat-arm", 0);
-		setprop("/it-autoflight/mode/arm", "HDG");
+		setprop("/it-autoflight/custom/show-hdg", 1);
 	}
 }
 
@@ -700,6 +705,7 @@ var make_loc_active = func {
 	setprop("/it-autoflight/output/loc-armed", 0);
 	setprop("/it-autoflight/output/lat", 2);
 	setprop("/it-autoflight/mode/lat", "LOC");
+	setprop("/it-autoflight/custom/show-hdg", 0);
 	if (getprop("/it-autoflight/output/appr-armed") == 1) {
 		# Do nothing because G/S is armed
 	} else {
diff --git a/Nasal/FMGC.nas b/Nasal/FMGC.nas
index 029b88e2..08e89d75 100644
--- a/Nasal/FMGC.nas
+++ b/Nasal/FMGC.nas
@@ -35,6 +35,7 @@ var FMGCinit = func {
 	setprop("/FMGC/internal/loc-source", "NAV0");
 	phasecheck.start();
 	various.start();
+	various2.start();
 }
 
 #############
@@ -84,9 +85,9 @@ setlistener("/FMGC/internal/cruise-ft", func {
 	setprop("/autopilot/route-manager/cruise/altitude-ft", getprop("/FMGC/internal/cruise-ft"));
 });
 
-################
-# Flight Phase #
-################
+############################
+# Flight Phase and Various #
+############################
 
 var phasecheck = maketimer(0.2, func {
 	var n1_left = getprop("/engines/engine[0]/n1");
@@ -204,7 +205,7 @@ var phasecheck = maketimer(0.2, func {
 		setprop("/FMGC/internal/minspeed", 147);
 	} else if (flap == 5) {
 		setprop("/FMGC/internal/overspeed", 163);
-		setprop("/FMGC/internal/minspeed", 135);
+		setprop("/FMGC/internal/minspeed", 134);
 	}
 });
 
@@ -216,8 +217,15 @@ var various = maketimer(1, func {
 	} else {
 		setprop("/it-autoflight/settings/reduc-agl-ft", getprop("/FMGC/internal/reduc-agl-ft"));
 	}
+});
+
+var various2 = maketimer(0.5, func {
 	nav0();
 	nav1();
+	var latmode = getprop("/it-autoflight/output/lat");
+	if (latmode == 0) {
+		setprop("/it-autoflight/custom/show-hdg", 1);
+	}
 });
 
 var nav0 = func {
diff --git a/Nasal/libraries.nas b/Nasal/libraries.nas
index 6f04e105..3146d5d8 100644
--- a/Nasal/libraries.nas
+++ b/Nasal/libraries.nas
@@ -222,6 +222,10 @@ var librariesLoop = maketimer(0.1, func {
 	} else {
 		setprop("/it-autoflight/internal/bank-limit", 25);
 	}
+	
+	if (getprop("/it-autoflight/custom/show-hdg") == 0) {
+		setprop("/it-autoflight/input/hdg", getprop("/orientation/heading-magentic-deg"));
+	}
 });
 
 var variousReset = func {
@@ -276,6 +280,39 @@ var mcpSPDKnbPush = func {
 	}
 }
 
+var mcpHDGKnbPull = func {
+	var latmode = getprop("/it-autoflight/output/lat");
+	var showhdg = getprop("/it-autoflight/custom/show-hdg");
+	if (latmode == 0 or showhdg == 0) {
+		setprop("/it-autoflight/input/lat", 3);
+		setprop("/it-autoflight/custom/show-hdg", 1);
+	} else {
+		setprop("/it-autoflight/input/lat", 0);
+		setprop("/it-autoflight/custom/show-hdg", 1);
+	}
+}
+
+var mcpHDGKnbPush = func {
+	setprop("/it-autoflight/input/lat", 1);
+}
+
+var hdgInput = func {
+	var latmode = getprop("/it-autoflight/output/lat");
+	if (latmode != 0) {
+		setprop("/it-autoflight/custom/show-hdg", 1);
+		var hdgnow = getprop("/it-autoflight/input/hdg");
+		settimer(func {
+			var hdgnew = getprop("/it-autoflight/input/hdg");
+			var showhdg = getprop("/it-autoflight/custom/show-hdg");
+			if (hdgnow == hdgnew and latmode != 5 and showhdg == 1) {
+				settimer(func {
+					setprop("/it-autoflight/custom/show-hdg", 0);
+				}, 10);
+			}
+		}, 2);
+	}
+}
+
 # In air, flaps 1 is slats only. On ground, it is slats and flaps.
 
 setprop("/controls/flight/flap-lever", 0);
diff --git a/Systems/fmgc-pitch.xml b/Systems/fmgc-pitch.xml
index 3454f587..50e1ed95 100644
--- a/Systems/fmgc-pitch.xml
+++ b/Systems/fmgc-pitch.xml
@@ -643,7 +643,7 @@
 			<property>/it-autoflight/internal/target-pitch-deg</property>
 		</reference>
 		<output>
-			<property>/it-autoflight/internal/elevator-cmd</property>
+			<property>/it-autoflight/internal/elevator-cmd</property> <!-- Inputs to the FBW -->
 		</output>
 		<config>
 			<Kp>
@@ -666,205 +666,5 @@
 			</u_max>
 		</config>
 	</pid-controller>
-	
-	<filter>
-		<name>IT-CONTROLLER: PITCH CMD</name>
-		<debug>false</debug>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-				</and>
-			</condition>
-			<property>/controls/flight/elevator-fbw</property>
-		</input>
-		<input>
-			<condition>
-				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<property>/it-autoflight/internal/elevator-cmd</property>
-		</input>
-		<output>/controls/flight/elevator-fmgc</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-				</and>
-			</condition>
-			<value>10</value>
-		</max-rate-of-change>
-		<max-rate-of-change>
-			<condition>
-				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<value>0.35</value>
-		</max-rate-of-change>
-	</filter>
-	
- <!-- =============================================================== -->
- <!-- Autotrim                                                        -->
- <!-- =============================================================== -->
-	
-	<pid-controller>
-		<name>AP PITCH HELPER PLUS</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<greater-than>
-						<property>/it-autoflight/internal/elevator-cmd</property>
-						<value>0.01</value>
-					</greater-than>
-					<or>
-						<equals>
-							<property>/it-autoflight/output/ap1</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-autoflight/output/ap2</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<value>0</value>
-		</input>
-		<reference>
-			<value>1</value>
-		</reference>
-		<output>
-			<property>/it-autoflight/internal/elevator-trim-cmd</property>
-		</output>
-		<config>
-			<Kp>0.08</Kp>
-			<beta>1.0</beta>
-			<alpha>0.1</alpha>
-			<gamma>0.0</gamma>
-			<Ti>10</Ti>
-			<Td>0.00001</Td>
-			<u_min>-1.00</u_min>
-			<u_max>1.00</u_max>
-		</config>
-	</pid-controller>
-	
-	<pid-controller>
-		<name>AP PITCH HELPER MINUS</name>
-		<debug>false</debug>
-		<enable>
-			<condition>
-				<and>
-					<less-than>
-						<property>/it-autoflight/internal/elevator-cmd</property>
-						<value>-0.01</value>
-					</less-than>
-					<or>
-						<equals>
-							<property>/it-autoflight/output/ap1</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-autoflight/output/ap2</property>
-							<value>1</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<value>0</value>
-		</input>
-		<reference>
-			<value>1</value>
-		</reference>
-		<output>
-			<property>/it-autoflight/internal/elevator-trim-cmd</property>
-		</output>
-		<config>
-			<Kp>-0.08</Kp>
-			<beta>1.0</beta>
-			<alpha>0.1</alpha>
-			<gamma>0.0</gamma>
-			<Ti>10</Ti>
-			<Td>0.00001</Td>
-			<u_min>-1.00</u_min>
-			<u_max>1.00</u_max>
-		</config>
-	</pid-controller>
-		
-	<filter>
-		<name>IT-CONTROLLER: PITCH TRIM CMD</name>
-		<debug>false</debug>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<enable>
-			<condition>
-				<and>
-					<or>
-						<equals>
-							<property>/it-autoflight/output/ap1</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-autoflight/output/ap2</property>
-							<value>1</value>
-						</equals>
-					</or>
-					<or>
-						<greater-than>
-							<property>/it-autoflight/internal/elevator-cmd</property>
-							<value>0.01</value>
-						</greater-than>
-						<less-than>
-							<property>/it-autoflight/internal/elevator-cmd</property>
-							<value>-0.01</value>
-						</less-than>
-					</or>
-				</and>
-			</condition>
-		</enable>
-		<input>
-			<property>/it-autoflight/internal/elevator-trim-cmd</property>
-		</input>
-		<output>/controls/flight/elevator-trim</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>0.01</max-rate-of-change>
-	</filter>
 
 </PropertyList>
diff --git a/Systems/fmgc-roll-yaw.xml b/Systems/fmgc-roll-yaw.xml
index bf4a7048..0432ccc7 100644
--- a/Systems/fmgc-roll-yaw.xml
+++ b/Systems/fmgc-roll-yaw.xml
@@ -244,7 +244,7 @@
 			<value>0</value>
 		</reference>
 		<output>
-			<property>/it-autoflight/internal/aileron-cmd</property>
+			<property>/it-autoflight/internal/aileron-cmd</property> <!-- Inputs to the FBW -->
 		</output>
 		<config>
 			<Kp>
@@ -283,75 +283,6 @@
 		</config>
 	</pid-controller>
 	
-	<filter>
-		<name>IT-CONTROLLER: ROLL CMD</name>
-		<debug>false</debug>
-		<feedback-if-disabled>true</feedback-if-disabled>
-		<initialize-to>output</initialize-to>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-				</and>
-			</condition>
-			<property>/controls/flight/aileron-fbw</property>
-		</input>
-		<input>
-			<condition>
-				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<property>/it-autoflight/internal/aileron-cmd</property>
-		</input>
-		<output>/controls/flight/aileron-fmgc</output>
-		<type>noise-spike</type>
-		<max-rate-of-change>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-				</and>
-			</condition>
-			<value>10</value>
-		</max-rate-of-change>
-		<max-rate-of-change>
-			<condition>
-				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<value>0.5</value>
-		</max-rate-of-change>
-	</filter>
-	
  <!-- =============================================================== -->
  <!-- Yaw Control                                                     -->
  <!-- =============================================================== -->
diff --git a/Systems/it-fbw.xml b/Systems/it-fbw.xml
index 419f115d..a1fd9533 100644
--- a/Systems/it-fbw.xml
+++ b/Systems/it-fbw.xml
@@ -26,10 +26,24 @@
 		<max-rate-of-change>5</max-rate-of-change>
 	</filter>
 	
-
 	<filter>
 		<debug>false</debug>
 		<type>noise-spike</type>
+		<input>
+			<condition>
+				<or>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>1</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>1</value>
+					</equals>
+				</or>
+			</condition>
+			<property>/it-autoflight/internal/aileron-cmd</property>
+		</input>
 		<input>/controls/flight/aileron</input>
 		<output>/controls/flight/aileron-input</output>
 		<max-rate-of-change>2.0</max-rate-of-change>
@@ -83,8 +97,21 @@
             </expression>
 		</input>
 		<input>
-			<property>/controls/flight/elevator</property>
+			<condition>
+				<or>
+					<equals>
+						<property>/it-autoflight/output/ap1</property>
+						<value>1</value>
+					</equals>
+					<equals>
+						<property>/it-autoflight/output/ap2</property>
+						<value>1</value>
+					</equals>
+				</or>
+			</condition>
+			<property>/it-autoflight/internal/elevator-cmd</property>
 		</input>
+		<input>/controls/flight/elevator</input>
 		<output>/controls/flight/elevator-input</output>
 		<max-rate-of-change>2.0</max-rate-of-change>
 	</filter>
@@ -226,14 +253,6 @@
 		<enable>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -280,14 +299,6 @@
 		<input>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -304,53 +315,28 @@
 			</condition>
 			<property>/controls/flight/aileron-fbw-cmd</property>
 		</input>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<or>
-						<equals>
-							<property>/gear/gear[1]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/gear/gear[2]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>2</value>
-						</equals>
-					</or>
-				</and>
-			</condition>
-			<property>/controls/flight/aileron-input</property>
-		</input>
 		<input>
 			<condition>
 				<or>
 					<equals>
-						<property>/it-autoflight/output/ap1</property>
+						<property>/gear/gear[1]/wow</property>
 						<value>1</value>
 					</equals>
 					<equals>
-						<property>/it-autoflight/output/ap2</property>
+						<property>/gear/gear[2]/wow</property>
 						<value>1</value>
 					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>1</value>
+					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>2</value>
+					</equals>
 				</or>
 			</condition>
-			<property>/controls/flight/aileron-fmgc</property>
+			<property>/controls/flight/aileron-input</property>
 		</input>
 		<input>
 			<condition>
@@ -378,20 +364,10 @@
 		<gain>1</gain>
 		<input>
 			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/roll-back</property>
-						<value>0</value>
-					</equals>
-				</and>
+				<equals>
+					<property>/it-fbw/roll-back</property>
+					<value>0</value>
+				</equals>
 			</condition>
 			<expression>
 				<product>
@@ -406,44 +382,10 @@
 		</input>
 		<input>
 			<condition>
-				<or>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>1</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>1</value>
-					</equals>
-				</or>
-			</condition>
-			<expression>
-				<product>
-					<property>/controls/flight/aileron-fmgc</property>
-					<table>
-						<property>/instrumentation/airspeed-indicator/indicated-mach</property>
-						<entry><ind>0.2</ind><dep>1.00</dep></entry>
-						<entry><ind>0.9</ind><dep>0.25</dep></entry>
-					</table>
-				</product>
-			</expression>
-		</input>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-fbw/roll-back</property>
-						<value>1</value>
-					</equals>
-				</and>
+				<equals>
+					<property>/it-fbw/roll-back</property>
+					<value>1</value>
+				</equals>
 			</condition>
 			<value>0</value>
 		</input>
@@ -611,14 +553,6 @@
 		<enable>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -679,14 +613,6 @@
 		<enable>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -731,14 +657,6 @@
 		<enable>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -799,14 +717,6 @@
 		<enable>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value> 
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -871,14 +781,6 @@
 		<input>
 			<condition>
 				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
 					<equals>
 						<property>/gear/gear[1]/wow</property>
 						<value>0</value>
@@ -909,57 +811,32 @@
 			</condition>
 			<property>/controls/flight/elevator-fbw-cmd</property>
 		</input>
-		<input>
-			<condition>
-				<and>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
-					<or>
-						<equals>
-							<property>/gear/gear[1]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/gear/gear[2]/wow</property>
-							<value>1</value>
-						</equals>
-						<equals>
-							<property>/it-fbw/law</property>
-							<value>2</value>
-						</equals>
-						<greater-than-equals>
-							<property>/orientation/roll-deg</property>
-							<value>40</value>
-						</greater-than-equals>
-						<less-than-equals>
-							<property>/orientation/roll-deg</property>
-							<value>-40</value>
-						</less-than-equals>
-					</or>
-				</and>
-			</condition>
-			<property>/controls/flight/elevator-input</property>
-		</input>
 		<input>
 			<condition>
 				<or>
 					<equals>
-						<property>/it-autoflight/output/ap1</property>
+						<property>/gear/gear[1]/wow</property>
 						<value>1</value>
 					</equals>
 					<equals>
-						<property>/it-autoflight/output/ap2</property>
+						<property>/gear/gear[2]/wow</property>
 						<value>1</value>
 					</equals>
+					<equals>
+						<property>/it-fbw/law</property>
+						<value>2</value>
+					</equals>
+					<greater-than-equals>
+						<property>/orientation/roll-deg</property>
+						<value>40</value>
+					</greater-than-equals>
+					<less-than-equals>
+						<property>/orientation/roll-deg</property>
+						<value>-40</value>
+					</less-than-equals>
 				</or>
 			</condition>
-			<property>/controls/flight/elevator-fmgc</property>
+			<property>/controls/flight/elevator-input</property>
 		</input>
 		<input>
 			<condition>
@@ -983,14 +860,6 @@
 						<property>/controls/flight/elevator-fbw</property>
 						<value>0.01</value>
 					</greater-than>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
 					<less-than>
 						<property>/orientation/roll-deg</property>
 						<value>40</value>
@@ -1047,14 +916,6 @@
 						<property>/controls/flight/elevator-fbw</property>
 						<value>-0.01</value>
 					</less-than>
-					<equals>
-						<property>/it-autoflight/output/ap1</property>
-						<value>0</value>
-					</equals>
-					<equals>
-						<property>/it-autoflight/output/ap2</property>
-						<value>0</value>
-					</equals>
 					<less-than>
 						<property>/orientation/roll-deg</property>
 						<value>40</value>
@@ -1110,14 +971,6 @@
 			<condition>
 				<and>
 					<and>
-						<equals>
-							<property>/it-autoflight/output/ap1</property>
-							<value>0</value>
-						</equals>
-						<equals>
-							<property>/it-autoflight/output/ap2</property>
-							<value>0</value>
-						</equals>
 						<or>
 							<equals>
 								<property>/it-fbw/law</property>